EP0499270A2 - Système de radar FM - Google Patents

Système de radar FM Download PDF

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Publication number
EP0499270A2
EP0499270A2 EP92102505A EP92102505A EP0499270A2 EP 0499270 A2 EP0499270 A2 EP 0499270A2 EP 92102505 A EP92102505 A EP 92102505A EP 92102505 A EP92102505 A EP 92102505A EP 0499270 A2 EP0499270 A2 EP 0499270A2
Authority
EP
European Patent Office
Prior art keywords
signal
target
frequency
beat
antenna
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP92102505A
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German (de)
English (en)
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EP0499270A3 (en
EP0499270B1 (fr
Inventor
Satoru Komatsu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
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Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to EP96111933A priority Critical patent/EP0743537B1/fr
Priority to DE9219002U priority patent/DE9219002U1/de
Publication of EP0499270A2 publication Critical patent/EP0499270A2/fr
Publication of EP0499270A3 publication Critical patent/EP0499270A3/en
Application granted granted Critical
Publication of EP0499270B1 publication Critical patent/EP0499270B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates to FM radar systems, and in particular, to FM radar systems for detecting a direction, range, and relative speed to a target.
  • a radar system which is mounted on a vehicle such as an automobile and used in conjunction with an alarm system to detect and warn of potential frontal and rearend collisions, must have a minimum range of several decimeters. For this reason, it has been recognized that for use in collision warning systems, frequency modulated-continuous wave (FM-CW) radar systems are preferred over conventional pulse radar systems. Examples of FM-CW radar systems may be found in United States Patent No. 4,306,236 and Japanese Patent No. HEI 1-28915. However, the FM-CW radar systems of the prior art provide only a means for detecting a range and a relative speed to a target. These systems do not provide a means for detecting a direction to a target.
  • FM-CW frequency modulated-continuous wave
  • a pair of antennas each having a main lobe of the same directivity, are set to radiate beams in slightly different directions respectively. Further, a ratio of amplitudes of beat signals produced by mixing radiated, reflected, and received FM signals and non-radiated reference FM signals are detected to indicate the direction to the target.
  • frequencies of the beat signals are decreased as the range to a target decreases, thus causing an increase of disturbance by 1/f noise generated in the mixers.
  • the propagation delay time will be about 7 ns.
  • the frequencies of the beat signals will be as low as about 30 Khz.
  • the beat signals output from the mixers will be strongly disturbed by 1/f noise. This problem is especially serious where FM radar systems are used over a very short range to detect and avoid collisions or contact between automobiles.
  • the FM radar system raises the frequencies of the beat signals in the following manner. Specifically, the FM signals to be radiated are produced by multiplying the frequencies of original FM signals by N times, and the FM signals to be used as reference signals are produced by multiplying the frequencies of the same original FM signals by (N-1) times.
  • this frequency increase results in another problem in that the modified FM radar system becomes more complicated and expensive.
  • Another object of the invention is to provide an FM radar system in which a direction to a target can be detected in addition to a range to the target.
  • Still another object of the invention is to provide an FM radar system in which a relative speed to a target can be detected in addition to a range and direction thereto.
  • Still another object of the invention is to provide an FM radar system in which interference between a pair of antennas each radiating an FM signal of the same frequency is avoided.
  • an FM radar system for measuring a range and a direction to a target comprising: at least one pair of antennas, each antenna of each pair having substantially the same directivity, each antenna being set to radiate a beam in a slightly different direction from the beam radiated by the other antenna, and each antenna being set to receive a return beam, said return beam comprising a beam radiated by the antenna and reflected by a target; a first signal distributing means for distributing an FM signal having a frequency varying with time to each of said antennas successively and repeatedly; means for generating beat signals successively and repeatedly, said beat signal generating means having a first and second set of input terminals, said first set of input terminals being adapted to receive a signal indicative of said return beam; a second signal distributing means for distributing a reference FM signal to said second set of input terminals of said beat signal generating means, the reference FM signal having a different frequency from that of said FM signal, and the difference being caused by shifting both frequencies by different
  • Fig. 1 is a block diagram of an FM radar system according to a first embodiment of the invention.
  • Fig. 2 is a drawing of a set of wave forms useful in understanding the operation of the radar system shown in Fig. 1.
  • Fig. 3 is a block diagram of an FM radar system according to a second embodiment of the invention.
  • Fig. 4 is a drawing of a set of wave forms useful in understanding the operation system shown in Fig. 2.
  • Fig. 5 is a drawing illustrating a relation between directivities and directions of a pair of antennas and a direction to a target.
  • the FM radar system includes a sweep oscillator 10, a power divider 11, up-converters 12 and 13, two groups of triple frequency multipliers 14 and 15, a group of circulators 16, a group of mixers 17, a group of antennas 18, a detecting circuit 19, a timing control circuit 20, a sweep circuit 21, and switching circuits 22 and 23.
  • a microwave FM signal generated by the sweep oscillator 10 and oscillating under the control of the sweep circuit 21 is supplied to the power divider 11.
  • the power divider 11 divides the signal into two parts, each having equal amplitude, and supplies the resulting signals to up-converters 12 and 13, respectively.
  • the up-converter 12 comprises a mixer 12a, a local oscillator 12b for generating microwave signals, and a band pass filter (not shown in Fig. 1).
  • the up-converter 13 comprises a mixer 13a, a local oscillator 13b for generating microwave signals, and a band pass filter (not shown in Fig. 1).
  • the frequencies of FM signals supplied from the power divider 11 are raised by up-converters 12 and 13, and the up-converted signals are supplied to switching circuits 22 and 23, respectively.
  • the frequencies of microwave signals generated by local oscillators 12b and 13b are set to appropriate values which differ from each other to produce an appropriate difference of frequencies (for example, a difference of 2 Ghz) between signals output from the up-converters 12 and 13.
  • four switching elements comprising pin diodes, for example, in the switching circuit 22 are rendered to be on and off successively for a predetermined period in sync with the control signal supplied from timing control circuit 20.
  • four switching elements in the switching circuit 23 are rendered to be on and off successively for a predetermined period in sync with the control signal supplied from the timing control circuit 20 to distribute the FM signal output from up-converter 13 to one of four triple frequency multipliers 15a-15d successively and repeatedly.
  • High frequency FM signals which are output from the frequency multipliers 14a-14d successively and have a wave length on the order of a millimeter (mm waves), are supplied to antennas 18a-18d through circulators 16a-16d, and radiated from the antennas 18a-18d successively.
  • the antennas 18a and 18b are set to form a pair as shown in Fig. 5 and to radiate beams of the FM signals of mm waves of the same directivity in slightly different directions from each other.
  • the antennas 18c and 18d are set to form a pair as shown in Fig. 5 and to radiate beams of the FM signals of mm waves of the same directivity in slightly different directions from each other.
  • a pair of antennas 18a and 18b is set to detect a direction to a target in a horizontal plane
  • a pair of antennas 18c and 18d is set to detect a direction to a target in a perpendicular plane.
  • FM signals which are output successively from the switching circuit 23 are supplied to the frequency multipliers 15a-15d successively.
  • FM signals comprising mm waves are output from the frequency multipliers 15a-15d and supplied to one of the second input terminals of the mixers 17a-17d successively as reference FM signals.
  • Reflected beams from a target received by antennas 18a-18d successively are supplied to one of the first input terminals of the mixers 17a-17d successively.
  • Beat signals generated in the mixers 17a-17d are supplied to the detecting circuit 19 through selector 24 which is selectively switched by the control signal supplied from the timing control circuit 20.
  • the frequency of the beam radiated from the antenna 18a is increased and decreased linearly with time in a first half period of radiation and fixed to a constant value in the following half period of radiation.
  • each of the frequencies fb to fd of beams radiated from antennas 18b-18d is increased and decreased linearly with time in a first half period of radiation and fixed to a constant value in the following half period of radiation.
  • Such frequency control is carried out by sweep circuit 21 by generating a signal of a voltage of the same wave form in sync with the timing signal supplied from the timing control circuit 20 and supplying it to the oscillator 10 which functions as a voltage controlled oscillator (VCO).
  • VCO voltage controlled oscillator
  • amplitude levels of beat signals output from a pair of mixers 17a and 17b are detected. These detected levels of beat signals reflect the levels of reflected beams received by antennas 18a and 18b, respectively.
  • the directivities and the directions of the beams radiated from a pair of antennas 18a and 18b are as shown by loops Ba and Db, respectively, and if a direction to a target is as shown in Fig. 5, then the levels La and Lb shown in Fig. 5 reflect the levels of reflected beams received by antennas 18a and 18b, respectively.
  • a ratio of levels of beat signals is calculated in the detection circuit 19, and this ratio may be converted to a direction to the target in a horizontal plane.
  • a second ratio of levels of beat signals output from a pair of mixers 17c and 17d are detected, and this second ratio may be converted to a direction to the target in a perpendicular plane.
  • the frequency of a beat signal is detected in the above-mentioned first half period of radiation wherein the frequency is increased and decreased linearly, and the range to a target is calculated using the detected frequency which provides an indication of the propagation delay time of a radiated and reflected beam. Further, in the detection circuit 19, the frequency of a beat signal is detected in the second half period of radiation in which the frequency is kept constant, and the relative speed to a target is calculated using the detected frequency which includes a component of Doppler shift.
  • the range to a target can all be calculated from the detected frequencies of beat signals and the ratio of levels of beat signals.
  • a single beat signal frequency output from one of four mixers 17a-17d may be detected, or all of the beat signal frequencies output from mixers 17a-17d may be detected to produce an average beat signal frequency.
  • the converted frequencies of the signals output from up-converters 12 and 13 are set to have an appropriate difference, for instance, a difference of about 2 Ghz, between them. As a result, the frequencies of beat signals output from mixers 17a to 17d are shifted to higher values to avoid any disturbance caused by 1/f noise.
  • the FM radar system includes a sweep oscillator 10, a power divider 11, a delay circuit 25, two groups of triple frequency multipliers 14 and 15, a group of circulators 16, a group of mixers 17, a group of antennas 18, a detecting circuit 19, a timing control circuit 20, a sweep circuit 21, and switching circuits 22 and 23.
  • the elements in Fig. 3 having the same reference numerals as those in Fig. 1 are the same elements already described with reference to Fig. 1, and duplicated descriptions of those elements are unnecessary.
  • the FM radar system shown in Fig. 3 differs from the system shown in Fig. 1 in that up-converters 12 and 13 are eliminated and a delay circuit 25 is added between the power divider 11 and switching circuits 22.
  • the frequency of each of the beat signals having no constant parts is separated into a first component caused by the propagation delay time, and a second component caused by Doppler shift, the range to a target is detected from the separated first component, and the relative speed to a target is detected from the separated second component as follows.
  • FU fo + ⁇ f(t/T) (1)
  • FD fo - ⁇ f(t/T) (2)
  • fo and ⁇ f are constants having dimensions of frequency and T is a constant having a dimension of time.
  • the frequency fbu of each of the beat signals output from mixers 17a-17d in the period of the upsweep and the frequency fbd of the beat signals output from mixers 17a-17d in the period of the downsweep is described as follows.
  • the relative velocity between a target V is determined as follows.
  • One advantage of the FM radar system according to the second embodiment is that a shift of the frequencies of the beat signals to higher values is realized, and disturbance by 1/f noise is avoided. This advantage is achieved by merely adding the delay circuit 25 between the power divider 11 and switching circuit 22. As a result, complex and expensive up-converters required in the FM radar system of the first embodiment can be eliminated, thus reducing the cost for manufacturing the system.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP92102505A 1991-02-15 1992-02-14 Système de radar FM Expired - Lifetime EP0499270B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP96111933A EP0743537B1 (fr) 1991-02-15 1992-02-14 Système de radar FM
DE9219002U DE9219002U1 (de) 1991-02-15 1992-02-14 Frequenzmoduliertes Radarsystem

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3042979A JP2665834B2 (ja) 1991-02-15 1991-02-15 Ｆｍレーダ
JP42979/91 1991-02-15

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP96111933A Division EP0743537B1 (fr) 1991-02-15 1992-02-14 Système de radar FM
EP96111933.6 Division-Into 1996-07-24

Publications (3)

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EP0499270A2 true EP0499270A2 (fr) 1992-08-19
EP0499270A3 EP0499270A3 (en) 1992-10-28
EP0499270B1 EP0499270B1 (fr) 1997-05-07

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EP92102505A Expired - Lifetime EP0499270B1 (fr) 1991-02-15 1992-02-14 Système de radar FM
EP96111933A Expired - Lifetime EP0743537B1 (fr) 1991-02-15 1992-02-14 Système de radar FM

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EP (2) EP0499270B1 (fr)
JP (1) JP2665834B2 (fr)
DE (3) DE69219495T2 (fr)

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EP0531877A1 (fr) * 1991-09-04 1993-03-17 Honda Giken Kogyo Kabushiki Kaisha Système de radar FM
EP0611969A1 (fr) * 1993-02-17 1994-08-24 Honda Giken Kogyo Kabushiki Kaisha Système de radar à temps partagé
GB2327821A (en) * 1997-05-17 1999-02-03 Bosch Gmbh Robert FMCW radar collision warning system

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TWI726791B (zh) * 2019-08-14 2021-05-01 創未來科技股份有限公司 訊號除頻器、訊號分佈系統與其相關方法
CN113108767A (zh) * 2021-04-07 2021-07-13 王陶然 一种无人机载雷达水文信息实时监测方法

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Cited By (7)

* Cited by examiner, † Cited by third party
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EP0531877A1 (fr) * 1991-09-04 1993-03-17 Honda Giken Kogyo Kabushiki Kaisha Système de radar FM
US5495255A (en) * 1991-09-04 1996-02-27 Honda Giken Kogyo Kabushiki Kaisha FM radar system
US5614909A (en) * 1991-09-04 1997-03-25 Honda Giken Kogyo Kabushiki Kaisha FM radar system
EP0611969A1 (fr) * 1993-02-17 1994-08-24 Honda Giken Kogyo Kabushiki Kaisha Système de radar à temps partagé
GB2327821A (en) * 1997-05-17 1999-02-03 Bosch Gmbh Robert FMCW radar collision warning system
US5949366A (en) * 1997-05-17 1999-09-07 Robert Bosch Gmbh Method and device for sensing an imminent or possible collision
GB2327821B (en) * 1997-05-17 1999-12-01 Bosch Gmbh Robert Method and device for detecting an imminent or possible collision

Also Published As

Publication number Publication date
EP0743537A2 (fr) 1996-11-20
DE69231600T2 (de) 2001-04-12
JP2665834B2 (ja) 1997-10-22
EP0743537A3 (fr) 1996-12-04
DE69231600D1 (de) 2001-01-18
JPH04259874A (ja) 1992-09-16
DE9219002U1 (de) 1996-11-14
EP0743537B1 (fr) 2000-12-13
DE69219495D1 (de) 1997-06-12
EP0499270A3 (en) 1992-10-28
DE69219495T2 (de) 1997-08-14
EP0499270B1 (fr) 1997-05-07
US5181037A (en) 1993-01-19

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